- Titel
- Socially aware robot navigation
- Untertitel
- Evaluating the impact of human field of view
- Zitierfähige Url:
- https://nbn-resolving.org/urn:nbn:de:bsz:105-qucosa2-981145
- Konferenz
- Workshop on Autonomous Delivery and Service Robots on Pedestrian and Cycle Paths. Schkeuditz, Germany, 19.-20.05.2025
- Quellenangabe
- Collected Volume of the Workshop on Autonomous Delivery and Service Robots on Pedestrian and Cycle Paths
Erscheinungsort: Freiberg
Erscheinungsjahr: 2025 - Abstract (EN)
- This paper presents a concept for socially aware robot navigation with a focus on avoiding the human field of view (FOV). The aim is to improve user acceptance, minimize hu- man discomfort and reduce impairment of concentration in the workplace, aspects often measured through subjective comfort and distraction metrics. For this purpose, a navigation concept is developed that integrates the human viewing direction into a costmap for navigation. Three different ways of modeling the environment around a human are implemented and then tested for comparison. The implementation for ROS2 is tested with a real robot, the Husky A200, equipped with the ZED2i camera. The concept and each variant are tested with test persons in a realistic working environment and evaluated in a user study. The results show a slight improvement in socially aware navigation by integrating the viewing areas into a costmap.
- Freie Schlagwörter (EN)
- Socially Aware Robot Navigation, Human Field of View (FOV), Human-Robot Interaction (HRI), Robot Perception, Costmap-based Navigation, Human Comfort, Proxemics, ROS2 navigation, User Acceptance, Autonomous Navigation, Visual Awareness, Workspace Safety, Robot Path Planning
- Klassifikation (DDC)
- 004
- Normschlagwörter (GND)
- Autonomer Roboter
- Navigation
- Kontextbezogenes System
- Herausgeber (Institution)
- Technische Universität Bergakademie Freoberg
- Version / Begutachtungsstatus
- publizierte Version / Verlagsversion
- URN Qucosa
- urn:nbn:de:bsz:105-qucosa2-981145
- Veröffentlichungsdatum Qucosa
- 24.09.2025
- Dokumenttyp
- Konferenzbeitrag
- Sprache des Dokumentes
- Englisch
- Lizenz / Rechtehinweis
CC BY 4.0